CN113696170B

CN113696170B - Industrial robot decelerator

Info

Publication number: CN113696170B
Application number: CN202111194155.XA
Authority: CN
Inventors: 夏吴斌
Original assignee: Silan Robot Nantong Co ltd
Current assignee: Silan Robot Nantong Co ltd
Priority date: 2021-10-13
Filing date: 2021-10-13
Publication date: 2022-02-08
Anticipated expiration: 2041-10-13
Also published as: CN113696170A

Abstract

The invention discloses an industrial robot speed reducer which comprises a main body, wherein a cover plate is fixedly connected to the middle position of the bottom of the front side of the main body, communicating holes are formed in two sides of the front side of the cover plate, supporting plates are fixedly connected to the bottoms of the outer walls of two sides of the main body, the speed reducer is arranged at the middle position of the top of the inner walls of two sides of the main body, two sides of the speed reducer penetrate through the main body and extend to the outside of the main body, and a dust guard is arranged at the top of the main body. This industrial robot decelerator when slowing down and stopping the device during operation, the unsmooth collection that can carry out a quantitative to the dust in surface of dust guard, the effectual transmission rigidity that has improved the speed reduction atress under the finite space makes its limit bearing capacity that has further increased the device, increases the precision of the inside speed reduction control of device, and the noise when being convenient for reduce the rotatory speed reduction of device is favorable to avoiding the error that later stage integral erection caused.

Description

Industrial robot decelerator

Technical Field

The invention relates to the technical field of robots, in particular to a speed reducing device of an industrial robot.

Background

The speed reducer is one of the core parts of the robot, and the functions of the speed reducer are to transmit the power of the servo motor, reduce the speed of the servo motor and amplify the torque so as to accurately control the action of the robot and bear related loads. Reduction gears for robots are classified into three major categories: planetary reducer, harmonic reducer and RV reduction gear. The planetary speed reducer is suitable for the working condition with small reduction ratio (the reduction ratio i is less than or equal to 50), the harmonic speed reducer and the RV speed reducer are suitable for the working condition with large reduction ratio (the reduction ratio i is more than or equal to 50), the industrial robot industry develops rapidly, and the demand for high-performance precision speed reducers is increased day by day.

According to a robot speed reduction device disclosed in Chinese patent No. CN109895141A, the robot speed reduction device is used for confirming a gravity center adjustment strategy through a processor according to balance data of a level meter and acceleration data of an acceleration sensor; according to the gravity center adjustment strategy, the gravity center is adjusted through the balance transmission module, when the change range of the balance data of the level meter is confirmed to be larger than a safety threshold value in a period time by the processor, the control driving module is controlled to decelerate, the operation stability of the robot is kept, the operation safety is improved, but the assembly precision is easily reduced after long-time work, the error after replacement is increased, the noise in operation is high, the influence on the working environment of the device is easily caused, and internal parts are easily damaged due to the heat increase in the internal work process.

In summary, the assembly accuracy is easily reduced after long-time operation, so that the error after replacement is increased, the noise during operation is high, the working environment of the device is easily affected, and internal parts are easily damaged due to the increase of heat during internal operation.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a speed reducing device of an industrial robot, which solves the problems that the assembly precision is easy to reduce after long-time work, the error after replacement is increased, the noise during operation is higher, the working environment of the device is easy to be influenced, and the internal parts are easy to be damaged due to the increase of heat during internal work.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme: a speed reducer of an industrial robot comprises a main body, wherein a cover plate is fixedly connected to the middle position of the bottom of the front side of the main body, communication holes are formed in two sides of the front side of the cover plate, supporting plates are fixedly connected to the bottoms of the outer walls of two sides of the main body, the speed reducer is arranged at the middle position of the top of the inner walls of two sides of the main body, two sides of the speed reducer penetrate through the main body and extend to the outside of the main body, and a dust guard is arranged at the top of the main body;

the speed reducer comprises a synchronous sleeve, two ends of the synchronous sleeve are fixedly connected with linkage mechanisms, the bottom of each linkage mechanism is provided with a connecting shell, two sides of each linkage mechanism penetrate through the connecting shell and extend to the outside of the connecting shell, the bottom of each connecting shell is fixedly connected with a balance side plate, two side outer walls of the connecting shell are provided with fastening mechanisms, and two sides of each linkage mechanism are fixedly connected with the fastening mechanisms.

The link gear includes fixed connection pad, has avoided the device joint gap increase, leads to the device hookup location to appear inclining and has increased inside friction damage, fixed connection pad is close to one side fixedly connected with rigid bearing frame of synchronous sleeve, and the arc wall that has improves the heat dissipation of inner space when dropping to the piece that produces behind the inside wearing and tearing, rigid bearing frame's right side outer wall is provided with guiding mechanism, guiding mechanism's right side outer wall is provided with dodges the ring, makes its inside heat conduct outside rapidly, avoids the inside high temperature of during operation, the both sides inner wall of dodging the ring is provided with reduction gear, reduction gear's right side is run through and is dodged the ring and extend to the outside of dodging the ring.

Preferably, fastening device has played isolated effect including the butt plate, the effectual area of contact who reduces device hookup location, the positive fixedly connected with emergency stop guide pin bushing of butt plate, the equal fixedly connected with laminating support of both sides outer wall of emergency stop guide pin bushing can protect external parts, has avoided appearing the condition that hard thing drops injures the part, the positive intermediate position intercommunication of emergency stop guide pin bushing has the transmission seal cover, is convenient for guide the device contact position, has avoided appearing connecting the phenomenon of dislocation, and then has increased the elasticity when device contact cooperates, the both sides inner wall middle part of emergency stop guide pin bushing is provided with protection machanism, protection machanism's positive middle part runs through the emergency stop guide pin bushing and extends to the outside of emergency stop guide pin bushing.

Preferably, guiding mechanism includes the positioning disk, is favorable to having improved the bearing capacity of device self, and then has improved the inside leakproofness of device, the both sides outer wall of positioning disk is provided with the regulating part, solid frame in the positive both sides fixedly connected with of positioning disk further prescribes a limit to internally mounted's position, prevents to appear squinting because of the mounted position and leads to the linkage gear inhomogeneous when rotating the atress to appear, the both sides inner wall of positioning disk is provided with the sealing washer, can protect contact position, makes the too big friction of can not appearing of its contact position, is convenient for add lubricating oil to the device is inside, the back both sides of sealing washer are provided with the linkage gear.

Preferably, protection machanism includes the atress transmission piece, the positive middle part fixedly connected with locking frame of atress transmission piece, the check lock lever that has can be fixed the driving medium of inside, and the effectual inside of having guaranteed receives even pressure, the both sides outer wall of atress transmission piece all is provided with the protection support, and the effectual wearing and tearing when having reduced inside removal have avoided the steel ball to appear scattering when rotating, the back of atress transmission piece runs through the outside that the protection support just extended to the protection support, the both sides outer wall middle part of protection support is provided with the steel ball, the positive middle part intercommunication of protection support has the retaining ring, has avoided the check lock lever to take place not hard up the condition that drops, and then carries out the rapid stop to operating condition.

Preferably, the middle part of the back surface of the sealing ring penetrates through the guide disc and extends to the outer part of the guide disc.

Preferably, the back surface of the guide mechanism penetrates the rigid mount and extends into the rigid mount.

Preferably, the bottom of the dust guard penetrates through the main body and extends to the inside of the main body, and the bottom of the dust guard is fixedly connected with the speed reducing device.

A use method of an industrial robot speed reducing device comprises the following steps: installing the equipment, fixedly connecting the dust guard with the main body, fixedly connecting the speed reducer with the main body, and connecting the main body with the driving piece;

step two: the internal rotation is carried out through a transmission cavity generated by the connecting shell and the synchronous sleeve, the fastening mechanism and the linkage mechanism are fixedly connected along with the rotation of the linkage mechanism and the synchronous sleeve, the fastening mechanism and the linkage mechanism have the function of driving the internal emergency stop fastening, and the connecting shell and the balance side plate are fixedly connected;

step three: the reduction gear is used for precisely controlling the rotating part, the fixed connecting disc is connected with the rigid bearing frame, the device is quickly decelerated through a deceleration structure formed by the reduction gear and the avoiding ring, and the avoiding ring is connected with the guide mechanism, so that the self strength of the device is increased when the device is in contact;

step four: the emergency stop guide sleeve is protected by the attaching support, the protecting mechanism rotates in the emergency stop guide sleeve, the connecting position is transmitted through a guide cavity generated by the emergency stop guide sleeve and a transmission sealing sleeve, and the abutting plate is fixedly connected with the emergency stop guide sleeve to fix the emergency stop guide sleeve;

step five: the protective cavity generated by the adjusting piece and the guide disc is used for transmission, the contact position is limited along with the fixed connection of the middle fixing frame and the guide disc, and the linkage gear is used for carrying out stressed rotation on the surface of the sealing ring, so that the linkage gear drives the sealing ring to rotate;

step six: the rotating cavity generated by the steel ball and the protective support is intermittently rotated, the steel ball and the protective support are communicated with each other along with the check ring and the protective support, the locking frame connected with the stress transmission block is used for carrying out internal extrusion locking, and the increased position of the locking rod of the locking frame which is loosened is contacted with the check ring.

(III) advantageous effects

The invention provides an industrial robot speed reduction device. The method has the following beneficial effects:

(one), this industrial robot decelerator, the dust guard has been set up, a supporting plate, the balanced curb plate, synchronous sleeve, when stopping slowing down the device during operation, the unsmooth collection that can carry out a certain amount to the dust in surface of dust guard, and the backup pad is convenient for block bellied object, the balanced curb plate can support connecting the casing, the effectual transmission rigidity who slows down the atress under the finite space that has improved, make its limit bearing capacity that has further increased the device, avoided the inside heat increase to cause the influence to the life of part, synchronous sleeve can inside closely laminate, make its precision that increases the inside speed reduction control of device, the noise when being convenient for reduce the rotatory speed reduction of device, be favorable to avoiding the error that later stage integral erection caused.

(II), this industrial robot decelerator rotates in the rotation inslot portion that the protection support produced through the steel ball, and the effectual wearing and tearing that have reduced when inside removes, atress driving block have can restrict the position of device internal contact locking, make its inside can protect fixed position, and the retaining ring restricts the back leg home range of the locking frame that loosens, has avoided the locking lever to take place not hard up the condition that drops, carries out free adjustment to the clearance of inside interception.

(III), this industrial robot decelerator can protect the contact position through the sealing washer, makes the too big friction of can not appearing of its contact position, is convenient for to the inside lubricating oil that adds of device, makes inside heat can not appear too big deviation, and the activity space that has between deflector and the regulating part has improved the variety of changing the selection after the part damages, is favorable to having improved the bearing capacity of device self, and then has improved the inside leakproofness of device.

(IV), this industrial robot decelerator, the stability that the joint piece that has through the scram guide pin bushing can increase device hookup location, prevent that the device from appearing leading to the dead condition of card because of the bending, the effectual transmission effect that improves the device, the further life who has prolonged the device, the butt board has played isolated effect, the effectual area of contact who reduces device hookup location, the laminating support can be protected external component, the condition of damaging the part by a crashing object has been avoided appearing dropping.

(five), this industrial robot decelerator, through under the condition of carrying out the inside speed reduction of device, reduction gear can cooperate with dodging at rotatory in-process, makes its inside heat conduct outside rapidly, and the arc wall that the rigidity was had accepts the frame surface improves the heat dissipation of inner space when dropping the piece that produces behind the internal wear, has avoided the device to connect the gap increase, leads to the device hookup location to appear the slope and has increased inside friction damage.

(VI), this industrial robot decelerator closely laminates through retaining ring and transmission seal cover, and the effectual intensity that has improved device self has avoided the inside condition of breaking away or bending appearing after producing wearing and tearing, has further prolonged the life of device, makes the effect that has the buffering during the installation simultaneously, prevents to stretch into the inside speed of device and causes the part to receive the effort and damage at the excessive speed.

(VII) this industrial robot decelerator, through being connected of regulating part and rigid bearing frame, increased the inside lifting surface area of device for the device during operation can bear bigger pressure, dodge the connecting rod that the ring has and can carry out the self-protection when rotating, thereby alleviate the extrusion force that self received, further fix the intercommunication position of inside, avoided appearing the phenomenon that the installation is not in place.

Drawings

FIG. 1 is a schematic structural view of the present invention as a whole;

FIG. 2 is a schematic structural diagram of the reduction gear of the present invention;

FIG. 3 is a schematic structural view of a linkage mechanism according to the present invention;

FIG. 4 is a schematic structural view of the fastening mechanism of the present invention;

FIG. 5 is a schematic structural view of the guide mechanism of the present invention;

fig. 6 is a schematic structural view of the protection mechanism of the present invention.

In the figure: the device comprises a main body 1, a support plate 2, a cover plate 3, a connecting hole 4, a speed reducing device 5, a connecting shell 51, a balance side plate 52, a 53 linkage mechanism, a fixed connecting plate 531, a 532 rigid bearing frame, a 533 guide mechanism, a d1 adjusting piece, a d2 guide disc, a d3 linkage gear, a d4 sealing ring, a d5 middle fixing frame, a 534 avoiding ring, a 535 speed reducing gear, a 54 synchronous sleeve, a 55 fastening mechanism, a 551 attaching bracket, a 552 emergency stop guide sleeve, a 553 transmission sealing sleeve, a 554 abutting plate, a 555 protection mechanism, a t1 protection support, a t2 check ring, a t3 locking frame, a t4 force transmission block, a t5 steel ball and a 6 dust guard.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The first embodiment is as follows:

referring to fig. 1-6, the present invention provides a technical solution: a speed reduction device for an industrial robot comprises a main body 1, wherein a cover plate 3 is fixedly connected to the middle position of the bottom of the front side of the main body 1, communication holes 4 are formed in two sides of the front side of the cover plate 3, supporting plates 2 are fixedly connected to the bottoms of the outer walls of two sides of the main body 1, a speed reduction device 5 is arranged at the middle position of the top of the inner wall of two sides of the main body 1, two sides of the speed reduction device 5 penetrate through the main body 1 and extend to the outside of the main body 1, and a dust guard 6 is arranged at the top of the main body 1;

the speed reducer 5 comprises a synchronous sleeve 54, two ends of the synchronous sleeve 54 are fixedly connected with a linkage mechanism 53, the bottom of the linkage mechanism 53 is provided with a connecting shell 51, two sides of the linkage mechanism 53 penetrate through the connecting shell 51 and extend to the outside of the connecting shell 51, the bottom of the connecting shell 51 is fixedly connected with a balance side plate 52, two outer walls of two sides of the connecting shell 51 are provided with fastening mechanisms 55, two sides of the linkage mechanism 53 are fixedly connected with the fastening mechanisms 55, when the speed reducer stops when the speed reducer works, the balance side plate 52 can support the connecting shell and is tightly attached to the connecting shell 51, the transmission rigidity of speed reducing stress in a limited space is effectively improved, the limit bearing capacity of the speed reducer is further increased, the influence of increase of internal heat on the service life of parts is avoided, the synchronous sleeve 54 can be tightly attached to the inside, and the precision of speed reduction control in the speed reducer is increased, noise when being convenient for reduce the rotatory speed reduction of device is favorable to avoiding the error that later stage integral erection caused, realizes big speed reduction ratio, can increase the stress transmission of the many areas on device surface.

The linkage mechanism 53 comprises a fixed connection disc 531, one side of the fixed connection disc 531, which is close to the synchronous sleeve 54, is fixedly connected with a rigid bearing frame 532, the right outer wall of the rigid bearing frame 532 is provided with a guide mechanism 533, the right outer wall of the guide mechanism 533 is provided with an avoiding ring 534, the inner walls of two sides of the avoiding ring 534 are provided with speed reducing gears 535, the right side of the speed reducing gears 535 penetrates through the avoiding ring 534 and extends to the outside of the avoiding ring 534, under the condition of internal speed reduction of the device, the speed reducing gears 535 can be matched with the avoiding ring 534 in the rotating process, so that the heat in the device can be rapidly conducted to the outside, the phenomenon that the temperature in the device is too high during work to cause the deformation of the outside of the device is avoided, an arc-shaped groove arranged on the surface of the rigid bearing frame 532 drops chips generated after internal abrasion, the heat dissipation of an internal space is improved, and a fixed hole arranged on the surface of the fixed connection disc 531 reduces the gap at the connection position of the device, the increase of the connecting gap of the device is avoided, the connection position of the device is inclined, the internal friction damage is increased, and the transmission efficiency is reduced.

Wherein, the fastening mechanism 55 comprises a butt plate 554, the front of the butt plate 554 is fixedly connected with an emergency stop guide sleeve 552, the outer walls of both sides of the emergency stop guide sleeve 552 are fixedly connected with a joint support 551, the middle position of the front of the emergency stop guide sleeve 552 is communicated with a transmission sealing sleeve 553, the middle parts of the inner walls of both sides of the emergency stop guide sleeve 552 are provided with a protection mechanism 555, the middle part of the front of the protection mechanism 555 penetrates through the emergency stop guide sleeve 552 and extends to the outside of the emergency stop guide sleeve 552, the emergency stop guide sleeve 552 is tightly jointed with the transmission sealing sleeve 553, so that the contact position of the device is conveniently guided, the phenomenon of connection dislocation is avoided, the tightness of the contact matching of the device is further increased, a clamping block of the emergency stop guide sleeve 552 can increase the stability of the connection position of the device, the device is prevented from being clamped due to bending, the transmission effect of the device is effectively improved, and the service life of the device is further prolonged, butt plate 554 has played isolated effect, the effectual area of contact that has reduced device hookup location, and laminating support 551 can protect the exterior part, has avoided appearing the condition that the hard thing drops and injures the part by a crashing object.

Wherein, the guiding mechanism 533 includes a guiding disc d2, the outer walls of both sides of the guiding disc d2 are provided with an adjusting piece d1, both sides of the front of the guiding disc d2 are fixedly connected with a middle fixing frame d5, both side inner walls of the guiding disc d2 are provided with a sealing ring d4, both sides of the back of the sealing ring d4 are provided with a linkage gear d3, the linkage gear d3 is tightly attached to the middle fixing frame d5 through a guiding disc d2, thereby further limiting the position of the internal installation, preventing the linkage gear d3 from being stressed unevenly when rotating due to the deviation of the installation position, the sealing ring d4 can protect the contact position, so that the contact position can not generate excessive friction, the lubricating oil can be added into the device conveniently, the internal heat can not generate excessive deviation, the movable space between the guiding disc d2 and the adjusting piece d1 improves the variety of the selection after the damage of the component, and is beneficial to improving the bearing capacity of the device itself, thereby improving the sealing performance inside the device.

Wherein, the protection mechanism 555 comprises a stress transmission block t4, the front middle part of the stress transmission block t4 is fixedly connected with a locking frame t3, the outer walls of the two sides of the stress transmission block t4 are both provided with a protection support t1, the back surface of the stress transmission block t4 penetrates through a protection support t1 and extends to the outside of the protection support t1, the middle parts of the outer walls of the two sides of the protection support t1 are provided with a steel ball t5, the front middle part of the protection support t1 is communicated with a check ring t2, the steel ball t5 rotates in a rotating groove generated by the protection support t1, the abrasion during internal movement is effectively reduced, the steel ball t5 is prevented from scattering during rotation, a locking rod arranged on the locking frame t3 can fix a transmission part inside, the internal uniform pressure is effectively ensured, the stress transmission block t4 has a position capable of limiting the internal contact locking of the device, and the internal part can protect the fixed position, the retaining ring t2 restricts the back leg range of motion of the locking frame that loosens, has avoided the locking lever to take place not hard up the condition that drops, and then stops operating condition fast, carries out free adjustment to the clearance of inside interception.

Example two:

referring to fig. 1-6, on the basis of the first embodiment, the present invention provides a technical solution: a use method of an industrial robot speed reducing device comprises the following steps: installing the equipment, fixedly connecting the dust guard 6 with the main body 1, fixedly connecting the speed reducer 5 with the main body 1, and connecting the main body 1 with the driving piece;

step two: the transmission cavity generated by the connecting shell 51 and the synchronous sleeve 54 rotates internally, the linkage mechanism 53 and the synchronous sleeve 54 rotate together, the fastening mechanism 55 and the linkage mechanism 53 are fixedly connected to have the function of emergency stop fastening in the driving part, and the connecting shell 51 and the balance side plate 52 are fixedly connected;

step three: the reduction gear 535 is utilized to carry out precise control on the rotating part, the fixed connecting disc 531 is connected with the rigid bearing frame 532, the rapid speed reduction of the device is realized through a speed reduction structure formed by the reduction gear 535 and the avoiding ring 534, and the avoiding ring 534 is connected with the guide mechanism 533, so that the self strength of the device is increased when the device is in contact;

step four: the emergency stop guide sleeve 552 is protected by the joint support 551, and along with the rotation of the protection mechanism 555 in the emergency stop guide sleeve 552, the connection position is transmitted through a guide cavity generated by the emergency stop guide sleeve 552 and the transmission sealing sleeve 553, and the abutting plate 554 and the emergency stop guide sleeve 552 are fixedly connected to fix the emergency stop guide sleeve;

step five: the protective cavity generated by the adjusting piece d1 and the guide disc d2 is used for transmission, the contact position is limited along with the fixed connection between the middle fixing frame d5 and the guide disc d2, and the linkage gear d3 is used for carrying out stressed rotation on the surface of the sealing ring d4, so that the linkage gear d3 drives the sealing ring d4 to rotate;

step six: the rotating cavity generated by the steel ball t5 and the protective support t1 rotates intermittently, the retainer ring t2 is communicated with the protective support t1, the locking frame t3 connected with the force transmission block t4 is used for internal extrusion locking, and the enlarged position of the locking rod of the locking frame t3 which is loosened is contacted with the retainer ring t 2.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. The term "comprising", without further limitation, means that the element so defined is not excluded from the group consisting of additional identical elements in the process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. An industrial robot decelerator comprising a main body (1), characterized in that: a cover plate (3) is fixedly connected to the middle position of the bottom of the front face of the main body (1), communicating holes (4) are formed in two sides of the front face of the cover plate (3), supporting plates (2) are fixedly connected to the bottoms of the outer walls of two sides of the main body (1), a speed reducer (5) is arranged in the middle position of the top of the inner walls of two sides of the main body (1), two sides of the speed reducer (5) penetrate through the main body (1) and extend to the outside of the main body (1), and a dust guard (6) is arranged on the top of the main body (1);

the speed reducer (5) comprises a synchronous sleeve (54), two ends of the synchronous sleeve (54) are fixedly connected with a linkage mechanism (53), the bottom of the linkage mechanism (53) is provided with a connecting shell (51), two sides of the linkage mechanism (53) penetrate through the connecting shell (51) and extend to the outside of the connecting shell (51), the bottom of the connecting shell (51) is fixedly connected with a balance side plate (52), outer walls of two sides of the connecting shell (51) are provided with fastening mechanisms (55), and two sides of the linkage mechanism (53) are fixedly connected with the fastening mechanisms (55);

the linkage mechanism (53) comprises a fixed connection disc (531), one side of the fixed connection disc (531) close to the synchronous sleeve (54) is fixedly connected with a rigid bearing frame (532), the right side outer wall of the rigid bearing frame (532) is provided with a guide mechanism (533), the right side outer wall of the guide mechanism (533) is provided with an avoiding ring (534), the inner walls of the two sides of the avoiding ring (534) are provided with a speed reduction gear (535), and the right side of the speed reduction gear (535) penetrates through the avoiding ring (534) and extends to the outside of the avoiding ring (534).

2. An industrial robot deceleration device according to claim 1, characterized in that: the fastening mechanism (55) comprises a butt plate (554), wherein an emergency stop guide sleeve (552) is fixedly connected to the front face of the butt plate (554), a fitting support (551) is fixedly connected to the outer walls of the two sides of the emergency stop guide sleeve (552), a transmission sealing sleeve (553) is communicated to the middle position of the front face of the emergency stop guide sleeve (552), a protection mechanism (555) is arranged in the middle of the inner walls of the two sides of the emergency stop guide sleeve (552), and the middle of the front face of the protection mechanism (555) penetrates through the emergency stop guide sleeve (552) and extends to the outside of the emergency stop guide sleeve (552).

3. An industrial robot deceleration device according to claim 1, characterized in that: guiding mechanism (533) include positioning disk (d 2), the both sides outer wall of positioning disk (d 2) is provided with regulating part (d 1), solid frame (d 5) in the positive both sides fixedly connected with of positioning disk (d 2), the both sides inner wall of positioning disk (d 2) is provided with sealing washer (d 4), the back both sides of sealing washer (d 4) are provided with linkage gear (d 3).

4. An industrial robot deceleration device according to claim 2, characterized in that: protection machanism (555) are including atress transmission piece (t 4), the front middle part fixedly connected with locking frame (t 3) of atress transmission piece (t 4), the both sides outer wall of atress transmission piece (t 4) all is provided with protection support (t 1), the outside that protection support (t 1) and extend to protection support (t 1) is run through at the back of atress transmission piece (t 4), the both sides outer wall middle part of protection support (t 1) is provided with steel ball (t 5), the front middle part intercommunication of protection support (t 1) has retaining ring (t 2).

5. An industrial robot deceleration device according to claim 3, characterized in that: the middle of the back surface of the sealing ring (d 4) penetrates through the guide disc (d 2) and extends to the outside of the guide disc (d 2).

6. An industrial robot deceleration device according to claim 1, characterized in that: the back surface of the guide mechanism (533) penetrates through the rigid receiving frame (532) and extends into the rigid receiving frame (532).

7. An industrial robot deceleration device according to claim 1, characterized in that: the bottom of dust guard (6) runs through main part (1) and extends to the inside of main part (1), the bottom and the decelerator (5) fixed connection of dust guard (6).